To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have self-localization drifts and precise relative navigation, where the flocking algorithm is introduced to reduce the negative impact of the self-localization drift. It is shown that the cohesion behavior and the velocity alignment behavior are able to reduce the influence of the position measurement drift and the velocity measurement error, respectively. For the convenience in practical use, a modified vector field controller with five control terms is put forward. Finally, the effectiveness of the proposed method is validated by numerical simulations and real experiments.
翻译:为了引导机器人群在类似走廊环境中的移动,我们以前的工作设计了一个没有障碍的曲线虚拟管。本文概括了控制器的设计,其条件为所有机器人都有自我定位漂移和精确相对导航,在此引入了群集算法以减少自我定位漂移的负面影响。这表明凝聚行为和速度对齐行为能够分别减少位置测量漂移和速度测量误差的影响。为了便于实际使用,提出了具有五个控制条件的经修改的矢量场控制器。最后,拟议方法的有效性通过数字模拟和实际实验得到验证。